// --------------------------------------------------------------------------------------------------------------------
// <copyright file="PoseFeedbackMessageInterpolatorAgent.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Navigation.Runtime.Motion
{
    using System;
    using System.Collections.Generic;
    using System.Runtime.Serialization;

    using Microsoft.Robotics.Hardware.DAC;
    using Microsoft.Robotics.Hardware.Runtime.DAC;
    using Microsoft.Robotics.Navigation.Perception;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Vision.Runtime.Cameras;

    /// <summary>
    /// Class which interpolates pose feedback state messages based on kinect message timing.
    /// </summary>
    [DataContract]
    public class PoseFeedbackMessageInterpolatorAgent : InterpolationConsumerProducerAgent<SimpleAgentMessage<PoseFeedbackState>, SimpleAgentMessage<LaserHorizontalDepthProfile>>
    {
        /// <summary>
        /// The name of the pose feedback producer we subscribe to.
        /// </summary>
        [DataMember(Name = "PoseFeedbackMessageProducer")]
        private readonly string poseFeedbackMessageProducer;

        /// <summary>
        /// The name of the HDP agent we subscribe to.
        /// </summary>
        [DataMember(Name = "HDPProducer")]
        private readonly string hdpMessageProducer;

        /// <summary>
        /// Initializes a new instance of the <see cref="PoseFeedbackMessageInterpolatorAgent" /> class.
        /// </summary>
        /// <param name="name">This agent name</param>
        /// <param name="poseFeedbackMessageProducer">Pose feedback message producer agent name</param>
        /// <param name="hdpMessageProducer">HDP agent message producer name</param>        
        public PoseFeedbackMessageInterpolatorAgent(
            string name,
            string poseFeedbackMessageProducer,
            string hdpMessageProducer)
            : base(name)
        {
            this.poseFeedbackMessageProducer = poseFeedbackMessageProducer;
            this.hdpMessageProducer = hdpMessageProducer;
        }

        /// <summary>
        /// Needs to be provided for the interpolation
        /// </summary>
        protected override string ProducerName1
        {
            get { return this.poseFeedbackMessageProducer; }
        }

        /// <summary>
        /// Needs to be provided for the interpolation
        /// </summary>
        protected override string ProducerName2
        {
            get { return this.hdpMessageProducer; }
        }

        /// <summary>
        /// Called to interpolate between the start and end messages by the time provided by the interpolation timer's OriginatingTime.        
        /// </summary>
        /// <param name="start">The start message</param>
        /// <param name="end">The end message</param>
        /// <param name="interpolationTime">The time for interpolation</param>
        protected override void Receive(SimpleAgentMessage<PoseFeedbackState> start, SimpleAgentMessage<PoseFeedbackState> end, long interpolationTime)
        {
            long startTime = start.OriginatingTime;
            long endTime = end.OriginatingTime;
            long desiredTime = interpolationTime;

            PoseFeedbackState startState = start.State;
            PoseFeedbackState endState = end.State;
            PoseFeedbackState interpolated = PoseFeedbackState.Interpolate(startTime, endTime, desiredTime, startState, endState);

            this.Publisher.Post(new SimpleAgentMessage<PoseFeedbackState>(interpolated, desiredTime));
        }
    }
}
